As weird as this may seem, I have one dog that LUVS to have her anal glands cleaned. I do it myself, at home (but just from the outside).
It's relatively easy, unless your dog's anal glands are filled with thick/pasty stuff (1 of mine has this problem). Anyway:
1. Grab a wad of toilet paper or paper towel.
2. Lift the tail/nub straight up. That helps push the anal
gland into a better position.
3. Squeeze just under their rectum, on both sides, like
at 8:00pm and 4:00pm (think of looking at a clock)
Sometimes it may take a couple of squeezes and/or readjustments of the tail to get it. YES, it does smell, but sure a lot cheaper than going to the vet all the time (with 4 dogs, 3 with special medical needs, I try to cut back wherever I can, believe me).
I find it easier to do it with them standing up. I stand over the dog, backwards facing the tail end, pull up on the tail/nub and squeeze away. It does take some "deep squeezing" sometimes, but usually works. You can also have someone distract the dog by giving them treats or whatever while you're doing this.
The one of mine that LUVS to have this done, all we have to do is say things like "do you need your butt squeezed" or "something wrong with your butt", "want your butt checked", etc. and she heads right into the bathroom, as that's where I always do it. She would probably let me do it every single day, I bet.